Documents

2024

• Milano, Francesco and Chung, Jen Jen and Blum, Hermann and Siegwart, Roland and Ott, Lionel, "NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024.
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• de Wolde, Jelmer and Knoedler, Luzia and Garofalo, Gianluca and Alonso-Mora, Javier, "Current-Based Impedance Control for Interacting with Mobile Manipulators", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024.
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• Wang, Xinyu and Knoedler, Luzia and Mathiesen, Frederik Baymler and Alonso-Mora, Javier, "Simultaneous synthesis and verification of neural control barrier functions through branch-and-bound verification-in-the-loop training", European Control Conference (ECC), 2024.
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• Sodano, Matteo and Magistri, Federico and Nunes, Lucas and Behley, Jens and Stachniss, Cyrill, "Open-World Semantic Segmentation Including Class Similarity", IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2024.
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• Xu, Yucheng and Nanbo, Li and Goel, Arushi and Yao, Zonghai and Guo, Zijian and Kasaei, Hamidreza and Kasaei, Mohammadreza and Li, Alex, "TiV-ODE: A Neural ODE-based Approach for Controllable Video Generation From Text-Image Pairs", IEEE International Conference on Robotics \& Automation, 2024.
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• Buchanan, Russell and R{\"o}fer, Adrian and Moura, Jo{\~a}o and Valada, Abhinav and Vijayakumar, Sethu, "Online estimation of articulated objects with factor graphs using vision and proprioceptive sensing", IEEE International Conference on Robotics \& Automation, 2024.
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• Chen, Haoran and Blomqvist, Kenneth and Milano, Francesco and Siegwart, Roland, "Panoptic vision-language feature fields", IEEE Robotics and Automation Letters, 2024.
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• Gorlo, Nicolas and Blomqvist, Kenneth and Milano, Francesco and Siegwart, Roland, "ISAR: A Benchmark for Single-and Few-Shot Object Instance Segmentation and Re-Identification", IEEE/CVF Winter Conference on Applications of Computer Vision, 2024.
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2023

• Arora, Mehul and Wiesmann, Louis and Chen, Xieyuanli and Stachniss, Cyrill, "Static map generation from 3D LiDAR point clouds exploiting ground segmentation", Robotics and Autonomous Systems, 2023.
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• Marcuzzi, Rodrigo and Nunes, Lucas and Wiesmann, Louis and Marks, Elias and Behley, Jens and Stachniss, Cyrill, "Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences", IEEE Robotics and Automation Letters, 2023.
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• Bakker, Saray and Knoedler, Luzia and Spahn, Max and B{\"o}hmer, Wendelin and Alonso-Mora, Javier, "Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics", IEEE International Symposium on Multi-Robot and Multi-Agent Systems, 2023.
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• Bakker, Saray and Knoedler, Luzia and Spahn, Max and B{\"o}hmer, Wendelin and Alonso-Mora, Javier, "Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics", IEEE International Symposium on Multi-Robot and Multi-Agent Systems, 2023.
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• N. Wilde and Javier Alonso-Mora, "Designing Heterogeneous Robot Fleets for Task Allocation and Sequencing", IEEE International Symposium on Multi-Robot and Multi-Agent Systems, 2023.
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• Botros, Alexander and Gilhuly, Barry and Wilde, Nils and Sadeghi, Armin and Alonso-Mora, Javier and Smith, Stephen L, "Optimizing Task Waiting Times in Dynamic Vehicle Routing", IEEE Robotics and Automation Letters, 2023.
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• Dong, Hao and Chen, Xieyuanli and S{\"a}rkk{\"a}, Simo and Stachniss, Cyrill, "Online pole segmentation on range images for long-term LiDAR localization in urban environments", Robotics and Autonomous Systems, 2023.
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• Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill, "Kiss-icp: In defense of point-to-point icp--simple, accurate, and robust registration if done the right way", IEEE Robotics and Automation Letters, 2023.
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• Mersch, Benedikt and Guadagnino, Tiziano and Chen, Xieyuanli and Vizzo, Ignacio and Behley, Jens and Stachniss, Cyrill, "Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation", IEEE Robotics and Automation Letters, 2023.
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• Wiesmann, Louis and Guadagnino, Tiziano and Vizzo, Ignacio and Zimmerman, Nicky and Pan, Yue and Kuang, Haofei and Behley, Jens and Stachniss, Cyrill, "Locndf: Neural distance field mapping for robot localization", IEEE Robotics and Automation Letters, 2023.
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• Tziafas, Georgios and Yucheng, XU and Goel, Arushi and Kasaei, Mohammadreza and Li, Zhibin and Kasaei, Hamidreza, "Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter", Conference on Robot Learning, 2023.
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• Kasaei, Mohammadreza and Babarahmati, Keyhan Kouhkiloui and Li, Zhibin and Khadem, Mohsen, "A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators", Conference on Robot Learning, 2023.
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• Ferrandis, Juan Del Aguila and Moura, Joao and Vijayakumar, Sethu, "Nonprehensile planar manipulation through reinforcement learning with multimodal categorical exploration", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.
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• Zimmerman, Nicky and Sodano, Matteo and Marks, Elias and Behley, Jens and Stachniss, Cyrill, "Constructing Metric-Semantic Maps using Floor Plan Priors for Long-Term Indoor Localization", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.
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• Saito, Namiko and Moura, Jo{\~a}o and Ogata, Tetsuya and Aoyama, Marina Y and Murata, Shingo and Sugano, Shigeki and Vijayakumar, Sethu, "Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation", IEEE International Conference on Robotics \& Automation, 2023.
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• Mower, Christopher E and Moura, Joao and Behabadi, Nazanin Zamani and Vijayakumar, Sethu and Vercauteren, Tom and Bergeles, Christos, "OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control", IEEE International Conference on Robotics \& Automation, 2023.
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• Subburaman, Rajesh and Selvaggio, Mario and Ruggiero, Fabio, "A non-prehensile object transportation framework with adaptive tilting based on quadratic programming", IEEE Robotics and Automation Letters, 2023.
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• Schiavi, Giulio and Wulkop, Paula and Rizzi, Giuseppe and Ott, Lionel and Siegwart, Roland and Chung, Jen Jen, "Learning agent-aware affordances for closed-loop interaction with articulated objects", IEEE International Conference on Robotics \& Automation, 2023.
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• Liu, Zhizheng and Milano, Francesco and Frey, Jonas and Siegwart, Roland and Blum, Hermann and Cadena, Cesar, "Unsupervised Continual Semantic Adaptation through Neural Rendering", IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023.
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• Sodano, Matteo and Magistri, Federico and Guadagnino, Tiziano and Behley, Jens and Stachniss, Cyrill, "Robust double-encoder network for rgb-d panoptic segmentation", IEEE International Conference on Robotics \& Automation, 2023.
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• Zhong, Xingguang and Pan, Yue and Behley, Jens and Stachniss, Cyrill, "Shine-mapping: Large-scale 3d mapping using sparse hierarchical implicit neural representations", IEEE International Conference on Robotics \& Automation, 2023.
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• Kasaei, Mohammadreza and Babarahmati, Keyhan Kouhkiloui and Li, Zhibin and Khadem, Mohsen, "Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator", IEEE International Conference on Robotics \& Automation, 2023.
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• Xu, Yucheng and Kasaei, Mohammadreza and Kasaei, Hamidreza and Li, Zhibin, "Instance-wise Grasp Synthesis for Robotic Grasping", IEEE International Conference on Robotics \& Automation, 2023.
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• Schadenberg, Bob R and Garcia Goo, Hideki and Nyman, Lena and Keisu, Jesper and Evers, Vanessa, "The Views of Hospital Laboratory Workers on Augmenting Laboratory Testing with Robots", International Conference on Human-Robot Interaction, 2023.
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• Kuang, Haofei and Chen, Xieyuanli and Guadagnino, Tiziano and Zimmerman, Nicky and Behley, Jens and Stachniss, Cyrill, "Ir-mcl: Implicit representation-based online global localization", IEEE Robotics and Automation Letters, 2023.
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• Cacace, Jonathan and Caccavale, Riccardo and Finzi, Alberto and Grieco, Riccardo, "Combining human guidance and structured task execution during physical human--robot collaboration", Journal of Intelligent Manufacturing, 2023.
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2022

• Frey, Jonas and Blum, Hermann and Milano, Francesco and Siegwart, Roland and Cadena, Cesar, "Continual Adaptation of Semantic Segmentation using Complementary 2D-3D Data Representations", IEEE Robotics and Automation Letters, 2022.
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• Morra, Damiano and Cervera, Enric and Buonocore, Luca Rosario and Cacace, Jonathan and Ruggiero, Fabio and Lippiello, Vincenzo and Di Castro, Mario, "Visual control through narrow passages for an omnidirectional wheeled robot", Conference on Control and Automation, 2022.
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• Lei, Maolin and Selvaggio, Mario and Wang, Ting and Ruggiero, Fabio and Zhou, Cheng and Yao, Chen and Zheng, Yu, "Dual-arm object transportation via model predictive control and external disturbance estimation", International Conference on Automation Science and Engineering, 2022.
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• Bertoncelli, Filippo and Selvaggio, Mario and Ruggiero, Fabio and Sabattini, Lorenzo, "Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022.
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• Caccavale, Riccardo and Finzi, Alberto, "A robotic cognitive control framework for collaborative task execution and learning", Topics in Cognitive Science, 2022.
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• Caccavale, Riccardo and Finzi, Alberto, "A rapidly-exploring random trees approach to combined task and motion planning", Robotics and Autonomous Systems, 2022.
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• C. E. Mower, T. Stouraitis, J. Moura, C. Rauch, L. Yan, N. Z. Behabadi, M. Gienger, T. Vercauteren, C. Bergeles, S. Vijayakumar, "ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction", Conference on Robot Learning, 2022.
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• N. Zimmerman, T. Guadagnino, X. Chen, J. Behley, C. Stachniss, "Long-Term Localization using Semantic Cues in Floor Plan Maps", IEEE Robotics and Automation Letters, 2022.
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• N. Wilde, J. Alonso-Mora, "Do we use the Right Measure? Challenges in Evaluating Reward Learning Algorithms", Conference on Robot Learning, 2022.
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• N. Wilde, and J. Alonso-Mora, "Online Multi-Robot Task Assignment with Stochastic Blockages", IEEE Conference on Decision and Control, 2022.
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• L. Wiesmann, T. Guadagnino, I. Vizzo, G. Grisetti, J. Behley, and C. Stachniss, "DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments", IEEE Robotics and Automation Letters, 2022.
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• X. Chen, B. Mersch, L. Nunes, R. Marcuzzi, I. Vizzo, J. Behley, and C. Stachniss, "Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation", IEEE Robotics and Automation Letters, 2022.
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• I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss, "VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data", Sensors, 2022.
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• N. Zimmerman, L. Wiesmann, T. Guadagnino, T. Läbe, J. Behley, and C. Stachniss, "Robust Onboard Localization in Changing Environments Exploiting Text Spotting", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022.
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• R. Long, C. Rauch, T. Zhang, V. Ivan, T. Lun Lam and S. Vijayakumar, "RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects", IEEE Robotics and Automation Letters (RAL), (2022).
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• K. Blomqvist, J. J. Chung, L. Ott and R. Siegwart, "Semi-automatic 3D object keypoint annotation and detection for the masses", International Conference on Pattern Recognition (ICPR), 2022.
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• A. Botros, A. Sadeghi, N. Wilde, J. Alonso-Mora and S. L. Smith, "Error-bounded approximation of pareto fronts in robot planning problems," Workshop on the Algorithmic Foundations of Robotics (WAFR), 2022.
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• X. Bai, A. Fielbaum, M. Kronmüller, L. Knoedler and J. Alonso-Mora, "Group-based distributed auction algorithms for multi-robot task assignment," IEEE Transactions on Automation Science and Engineering (TASE), 2022.
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• L. Knoedler, B. Brito, M. Everett, J. P. How and J. Alonso-Mora, "Learning a guidance policy from humans for social navigation," IEEE International Conference on Robotics and Automation Workshop on Social Robot Navigation: Advances and Evaluation (SEANavBench), 2022.
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• C. Rauch, R. Long, V. Ivan and S. Vijayakumar, "Sparse-dense motion modelling and tracking for manipulation without prior object models," IEEE Robotics and Automation Letters (RA-L), 2022.
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• J. Moura, T. Stouraitis and S. Vijayakumar, "Non-prehensile planar manipulation via trajectory optimization with complementarity constraints," IEEE International Conference on Robotics and Automation (ICRA), 2022.
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• L. Knoedler, C. Salmi, H. Zhu, B. Brito and J. Alonso-Mora, "Improving pedestrian prediction models with self-supervised continual learning," IEEE Robotics and Automation Letters (RA-L), 2022.
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• Y. Ao, L. Chen, F. Tschopp, M. Breyer, A. Cramariuc and R. Siegwart, "Unified data collection for visual-inertial calibration via deep reinforcement learning," IEEE International Conference on Robotics and Automation (ICRA), 2022.
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• L. M. Schmid, J. Delmerico, J. L. Schonberger, J. Nieto, M. Pollefeys, R. Siegwart and C. Cadena Lerma, "Panoptic multi-TSDFs: A flexible representation for online multi-resolution volumetric mapping and long-term dynamic scene consistency," IEEE International Conference on Robotics and Automation (ICRA), 2022.
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• S. Wang, W. Hu, L. Sun, X. Wang and Z. Li, "Learning adaptive grasping from human demonstrations," IEEE/ASME Transactions on Mechatronics, 2022.
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2021

• B. Mersch, X. Chen, J. Behley and C. Stachniss, "Self-supervised point cloud prediction using 3D spatio-temporal convolutional networks," Conference on Robot Learning (CoRL), 2021.
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• H. Dong, X. Chen and C. Stachniss, "Online range image-based pole extractor for long-term LiDAR localization in urban environments," European Conference on Mobile Robots (ECMR), 2021.
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• F. Ficuciello, A. Villani, T. Lisini Baldi and D. Prattichizzo, "A human gesture mapping method to control a multi‐functional hand for robot‐assisted laparoscopic surgery: The MUSHA case," Frontiers in Robotics and AI, 2021.
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• W. Hu, C. Yang, K. Yuan and Z. Li, "Learning motor skills of reactive reaching and grasping of objects," IEEE International Conference on on Robotics and Biomimetics (ROBIO), 2021.
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• S. P. Lionar, L. M. Schmid, C. Cadena, R. Siegwart and A. Cramariuc, "NeuralBlox: Real-time neural representation fusion for robust volumetric mapping," International Conference on 3D Vision, 2021.
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• S. Katyara, F. Ficuciello, D. G. Caldwell, B. Siciliano and F. Chen. "Leveraging kernelized synergies on shared subspace for precision grasp and dexterous manipulation," IEEE Transactions on Cognitive and Development Systems, 2021.
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• S. Katyara, F. Ficuciello, F. Chen, B. Siciliano and D. G. Caldwell. "Vision based adaptation to kernelized synergies for human inspired robotic manipulation," IEEE International Conference on Robotics and Automation (ICRA), 2021.
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• D. E. Canbay, P. Ferrentino, H. Liu, R. Moccia, S. Pirozzi, B. Siciliano and F. Ficuciello, "Calibration of tactile/force sensors for grasping with the PRISMA Hand II," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2021.
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• M. Selvaggio, M. Cognetti, S. Nikolaidis, S. Ivaldi and B. Siciliano, "Autonomy in physical human-robot interaction," IEEE Robotics and Automation Letters (RA-L), 2021.
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• E. Triantafyllidis, W. Hu, C. McGreavy and Z. Li, "Metrics for 3D object pointing and manipulation in virtual reality," IEEE Robotics & Automation Magazine (RAM), 2021.
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• T. Zhang, H. Zhang, X. Li, J. Chen, T. L. Lam and S. Vijayakumar, "AcousticFusion: Fusing sound source localization to visual SLAM in dynamic environments," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
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• H. Zhang, T. Zhang, T. L. Lam and S. Vijayakumar, "PoseFusion2: Simultaneous background reconstruction and human shape recovery in real-time," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
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• L. Di Giammarino, I. Aloise, C. Stachniss and G. Grisetti, "Visual place recognition using LiDAR intensity information," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
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• P. Rottmann, T. Posewsky, A. Milioto, C. Stachniss and J. Behley, "Improving monocular depth estimation by semantic pre-training," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
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• B. Mersch, T. Höllen, K. Zhao, C. Stachniss and R. Roscher, "Maneuver-based trajectory prediction for self-driving cars using spatio-temporal convolutional networks," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
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• M. Arora, L. Wiesmann, X. Chen and C. Stachniss, "Mapping the static parts of dynamic scenes from 3D LiDAR point clouds exploiting ground segmentation," European Conference on Mobile Robots (ECMR), 2021.
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• X. Chen, S. Li, B. Mersch, L. Wiesmann, J. Gall, J. Behley and C. Stachniss, "Moving object segmentation in 3D LiDAR data: A learning-based approach exploiting sequential data," IEEE Robotics and Automation Letters (RA-L), 2021.
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• M. Aygün, A. Ošep, M. Weber, M. Maximov, C. Stachniss, J. Behley and L. Leal-Taixé, "4D panoptic LiDAR segmentation," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
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• H. Ferrolho, W. Merkt, C. Tiseo and S. Vijayakumar, "Residual force polytope: Admissible task-space forces of dynamic trajectories," Robotics and Autonomous Systems (RAS), 2021.
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• M. Selvaggio, J. Cacace, C. Pacchierotti, F. Ruggiero and P. Robuffo Giordano, "A shared-control teleoperation architecture for nonprehensile object transportation", IEEE Transactions on Robotics (T-RO), 2021.
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• I. Vizzo, X. Chen, N. Chebrolu, J. Behley and C. Stachniss, "Poisson surface reconstruction for LiDAR odometry and mapping," IEEE International Conference on Robotics and Automation (ICRA), 2021.
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• A. Reinke, X. Chen and C. Stachniss, "Simple but effective redundant odometry for autonomous vehicles," IEEE International Conference on Robotics and Automation (ICRA), 2021.
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• N. Chebrolu, T. Läbe, O. Vysotska, J. Behley and C. Stachniss, "Adaptive robust kernels for non-linear least squares problems," IEEE Robotics and Automation Letters (RA-L), 2021.
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• M. Grinvald, F. Tombari, R. Siegwart and J. Nieto, "TSDF++: A multi-object formulation for dynamic object tracking and reconstruction," IEEE International Conference on Robotics and Automation (ICRA), 2021.
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• L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart and C. Cadena Lerma, "A unified approach for autonomous volumetric exploration of large scale environments under severe odometry drift," IEEE Robotics and Automation Letters (RA-L), 2021.
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• Z. Chen, J. Alonso-Mora, X. Bai, D. D. Harabor and P. J. Stuckey, "Integrated task assignment and path planning for capacitated multi-agent pickup and delivery," IEEE Robotics and Automation Letters (RA-L), 2021.
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• B. Brito, M. Everett, J. P. How and J. Alonso-Mora, "Where to go next: Learning a subgoal recommendation policy for navigation in dynamic environments," IEEE Robotics and Automation Letters (RA-L), 2021.
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